Method and system for wear testing a seat by simulating human seating activity and robotic human body simulator for use therein

ABSTRACT

A method and system for wear testing a seat by simulating human seating movement utilizing a robot and a robotic human body simulator mounted at a distal end of an arm thereof wherein a seat back surface as well as a seat bottom surface are wear tested without the need of video tape interpretation by a user of the system. Measured data is obtained by measuring 3-D locations of parts of a human during ingress of the human onto a calibration seat and egress of the human from the calibration seat. The measured data represents locations of the parts of the human. A control program is generated on the measured data by transforming the measured data to control program targets. Load and/or pressure feedback is provided for control program verification. The simulator includes a plurality of drives which receive drive control signals from a robot controller for moving a trunk and thigh parts of the simulator relative to and independent of one another to test wear characteristics of the seat bottom surface and the seat back surface of the seat under test for a plurality of cycles.

CROSS-REFERENCE TO RELATED APPLICATIONS

This is a divisional of application Ser. No. 08/770,704 filed on Dec.19, 1996; now U.S. Pat. No. 5,703,303.

This application is related to U.S. applications entitled "Method andSystem for Creating Time-Lapse Records of Wearout of a Plurality ofParts", U.S. application Ser. No. 08/730,899, and "Method and System forCreating A Time-Lapse Record of Wearout of a Part", U.S. applicationSer. No. 08/730,897, both filed on Oct. 18, 1996, and assigned to thesame assignee as the assignee of the present application.

1. Technical Field

This invention relates to methods and systems for wear testing partsand, in particular, to methods and systems for wear testing seats suchas automotive seats by simulating human seating activity and a robotichuman body simulator for use therein.

2. Background Art

Durability tests performed by apparatus such as sliding entry machinesor other chair testing apparatus are common. For example, the U.S. Pat.No. to Spencer, 3,592,041, discloses a chair testing apparatus fortesting the durability and wear characteristics of a chair. The testapparatus includes a number of weight pads that engages a seat bottomportion and a seat back portion of the chair in a continuous cyclingmotion.

The U.S. Pat. No. to Shaw, 2,670,627 discloses an apparatus for testingthe resistance of textile fabric to abrasion, flexing and creasing.

The U.S. Pat. No. to Strand et al., 5,373,749, discloses a tester forapplying forces to a back portion of a vehicle seat.

The U.S. Pat. No. to Andrzejak, 5,379,646 discloses a robotic seat backload-applying device that is capable of applying static and controlloading along various points of an automobile seat back.

The above noted patent applications describe systems for durabilitysimulations based upon gross movement of the occupant's buttocks on aseat to be tested. Consequently, the systems incompletely represent thehuman interface to such seats.

Some multi-axis systems rely upon a programmer's expertise in thetranslation of video images for machine programming of the systems. Suchsystems also have no feedback loop with which to verify proper simulatorloading of the seat.

U.S. Pat. No. 3,841,163 discloses a test dummy indicating system.

U.S. Pat. Nos. 4,873,867; 4,701,132; 4,409,835 and 4,261,113 disclosetest dummies that represent the back, buttocks and legs of the humanbody.

U.S. Pat. No. 4,438,650 discloses a test mannequin which is shaped tocorrespond to the upper legs, buttocks, and back of a human.

The U.S. Pat. No. to Johnson et al., 5,394,766, discloses a plastichuman torso that simulates the size, appearance, and movement of a humantorso.

The forces and torques encountered by a robot arm can be measureddirectly by using a wrist force sensor, which basically consists of astructure with some compliant sections and transducers that measure thedeflections of the compliant sections. The most common transducer usedfor this purpose is the strain gage, others being piezoelectric,magnetostrictive, magnetic, and so on. For example, the U.S. Pat. No. toGiovinazzo et al., 4,320,392, discloses a transducer which has sixdegrees of freedom and is arranged to output electrical signalsindicative of the forces and movements applied thereto.

Forces and torques can also be sensed indirectly by measuring the forcesacting on the joints of a manipulator. For joints driven by DC electricmotors, the force is directly proportional to the armature current; forjoints driven by hydraulic motors, it is proportional to back pressure.

Some scientific studies of human movement have relied on markers affixedto the body of the subject. These markers can then be tracked over timeto reveal the patterns of movement of various parts of the body.

Marking points of interest such as the joints of the body is only thefirst step in analyzing human movement. Before any analysis can occur,the markers must be detected and their position measured. Suchmeasurement can be tedious and time-consuming. For example, athletesparticipating in early film studies of human motion wore X's on theirjoints while throwing a football or carrying out some other athletictask. Researchers then went through the films frame by frame, digitizingthe positions of the X markers to get the data required to analyzeforce, acceleration, and so on.

The measurement of marker position has been automated in various ways.One example is the approach described in the U.S. Pat. No. to Thornton,4,375,674. Thornton's kinesimetric apparatus relies upon one or moreincandescent lamps affixed to the subject's body as markers. The 3-Dposition of each marker is determined through triangulation, given theoutput signals of a number of video cameras focused on the subject. Thismakes it possible to build up a movement envelope over time for eachmarker.

The use of marker shape to provide 3-D information without triangulationor multiple sensors is proposed by the U.S. Pat. No. to Spackova et al.,4,539,585. An equilateral triangle is affixed to a subject who is to bephotographed by a video camera. As the subject turns from side-to-side,the apparent shape of the triangle will change. A computer determinesorientation from the amount of changes.

What all of these approaches have in common is the use of markers orsignal sources which are worn or held by the person whose movements arebeing measured.

A number of other devices exist which rely on a human operator toidentify features of interest after the fact. In such a system, thesubject wears no markers while his or her image is being recorded.Instead, an operator marks the specified features by using a light penor similar device.

The U.S. Pat. No. to Dewar, Jr. et al., 4,254,433, discloses a visualmotion tracking system wherein movement of an article is monitored byproviding a patterned target to move with the object. A solid state linescan camera views the pattern of the target as it moves relative to thecamera and the electronic output of the camera representing the lightand dark areas of the target is analyzed by an electronic circuit todetermine the movement of the target and therefore of the object beingmonitored. The resulting electronic signal representing the motion ofthe object is useful for coordinating the movement of a robot which isoperating upon the object during its movement.

Qualisys, Inc. of Glastonbury, CT sells a kinematic measurement productcalled a PC Reflex 3D 60 Motion Measurements System. The system isdesigned to measure the motion of subjects in real-time and produce bothqualitative and quantitative results within a matter of seconds. Thesystem includes the following components:

1. Multiple position sensors (camera systems) each of which includes aspecially designed video camera and a specially designed videoprocessor.

2. Software which enables the user to set up a desired field of view ofthe position sensors, calibrate the desired field of view, and processin real-time the measured spatial coordinates (x,y) of target markerswhich are attached to a subject in the calibrated field of view.

3. Passive reflective target markers-come in various sizes and shapes.Standard Scotchlite 3M™ reflective paint can also be used.

4. A calibration frame which is used so that the volume of the desiredfield of view can be calibrated using software calibration routines.

Seat force sensors embedded within a seat to obtain electrical signalsrepresentative of force or weight experienced at various locations onthe seat are well known. For example, the U.S. Pat. No. to Blackburn etal., 5,232,243, discloses film-like occupant position and weightsensors.

The U.S. Pat. No. to Schousek, 5,474,327, discloses a seat pressuresensor comprising eight variable resistance pressure sensors embedded ina seat cushion. The response of each sensor to occupant pressure ismonitored by a microprocessor which calculates total weight and weightdistribution.

SUMMARY OF THE INVENTION

An object of the present invention is to provide a method and system forwear testing a seat by accurately simulating human seating activity notonly on a seat bottom, but also on a seat back of the seat duringsimulated vehicle ingress/egress.

Another object of the present invention is to provide a method andsystem for wear testing a seat utilizing a robotic human body simulatorwhich accurately simulates upper leg (thigh), buttock and backinteraction with the seat under test.

Still another object of the present invention is to provide a method andsystem for wear testing a seat by accurately quantifying actual humanmovement at numerous 3-D locations relative to the seat under testduring simulated vehicle ingress/egress.

Yet still another object of the present invention is to provide a methodand system for wear testing a seat wherein proper testing of the seat bya robotic human body simulator is verified through accurate bodypressure mapping of the simulator.

In carrying out the above objects and other objects of the presentinvention, a method is provided for wear testing a seat by simulatinghuman seating activity. The method includes the steps of providing arobot, including an arm with a robotic body simulator connected at adistal end thereof and measuring 3-D locations of parts of a humanduring ingress of the human onto a calibration seat and egress of thehuman from the calibration seat to obtain measured data representinglocations of the parts of the human. The method also includes the stepsof generating a control program based on the measured data, andrepeatedly driving the robot arm and the robotic human body simulatorbetween a withdrawn position and a seat-surface engaging position basedon the control program to test wear characteristics of a seat bottomsurface and a seat back surface of the seat under test for a pluralityof cycles.

Preferably, the step of measuring includes the step of scanning athree-dimensional field of view occupied by the human and thecalibration seat and taking successive images of the field of view.

Also, preferably, the method further includes the step of measuringforce exerted by the human on the calibration seat during the ingressand egress to obtain force exertion data.

Yet, still preferably, the method includes the step of attaching targetmarkers to the parts of the human and wherein the measured datarepresents locations of the target members on the parts of the human.

Still, preferably, the step of generating includes the step oftransforming the measured data into control targets representing theparts of the human.

Preferably, the step of measuring also measures 3-D locations of partsof the calibration seat and wherein the measured data also representslocations of the parts of the calibration seat.

Further in carrying out the above objects and other objects of thepresent invention, a system is provided for wear testing a seat bysimulating human seating activity. The system includes a robot includingan arm having a distal end and at least one arm drive for moving the armand a robotic human body simulator connected to the distal end of thearm for wear testing a seat bottom surface and a seat back surface ofthe seat under test. The simulator includes thighs adapted to engage theseat bottom surface, a trunk pivotally connected to the thighs andadapted to engage the seat bottom surface and the seat back surface anda plurality of simulator drives for moving the trunk and thighs relativeto and independent of one another. The system further includes acontroller coupled to the arm drive(s) and the plurality of simulatordrives and programmed with a control program to generate drive controlsignals so that the at least one arm drive and the plurality ofsimulator drives independently move the arm and the thighs and trunk ofthe simulator, respectively, repeatedly between a withdrawn position anda seat surface engaging position to test wear characteristics of theseat bottom surface and the seat back surface for a plurality of cycles.

Preferably, the controller stores force exertion data representative offorces exerted on a calibration seat by a human during actual humanseating activity. The system further includes a force measuring devicecoupled to the controller to generate signals indicative of forcesapplied to the simulator during the wear testing. The controllerprocesses the signals and the force exertion data to verify the controlprogram.

Still, preferably, the signals are also indicative of moments applied tothe simulator during the wear testing; the force measuring device is atransducer coupled to the simulator at the distal end of the arm; andthe transducer is a load cell which has six degrees of freedom.

Yet, still further in carrying out the above objects and other objectsof the present invention, a robotic human body simulator is provided forwear testing a seat. The simulator includes thighs adapted to engage aseat bottom surface, a trunk pivotally connected to the thighs andadapted to engage the seat bottom surface and a seat back surface, and aplurality of simulator drives adapted to receive drive control signalsfor moving the trunk and thighs relative to and independent of oneanother to test wear characteristics of the seat bottom surface and theseat back surface for a plurality of cycles.

Preferably, the trunk includes a back and buttocks pivotally connectedto the back. One of the plurality of drives moves the back relative toand independent of the buttocks.

Also, preferably, each of the thighs is pivotally connected to thebuttocks. Each of the thighs is moved by another one of the plurality ofdrives relative to and independent of the buttocks.

The above objects and other objects, features, and advantages of thepresent invention are readily apparent from the following detaileddescription of the best mode for carrying out the invention when takenin connection with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram illustrating a system including a robotand a robotic human body simulator constructed in accordance with thepresent invention;

FIG. 2 is a partially broken away schematic diagram of a secondembodiment of a robotic human body simulator mounted at a distal end ofa robot arm;

FIG. 3 is a schematic block diagram illustrating a system for generatingforce exertion data and a control program for use by the system of thepresent invention; and

FIG. 4 is a schematic block diagram including data flow paths andillustrating the method and system of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION

Referring now to the drawing Figures, there is illustrated in FIG. 1 asystem, generally indicated at 10, for wear testing a seat by simulatinghuman seating activity. The system 10 preferably includes a multiaxiselectric robot, generally indicated at 12, including an arm, generallyindicated at 14. At a distal end 16 of the arm 14, there is mounted by aconnector 17 an end effector in the form of a robotic human bodysimulator, generally indicated at 18, for wear testing a seat bottomsurface and a seat back surface of an automotive seat.

The system 10 also includes a conventional robot controller 20 which iselectrically coupled to electric servo motor drives of the robot 12 andthe simulator 18 by a bi-directional cable 21. The robot controller 20is programmed with a control program to generate drive control signalsfor use by the electric servo motor drives of the robot 12 and thesimulator 18 so that the arm drives and the simulator drivesindependently move the arm 14 and the simulator 18 repeatedly between awithdrawn position and a seat surface engaging position to test wearcharacteristics of the seat bottom surface and the seat back surfaceduring the movement for a plurality of cycles.

In particular, the simulator 18 includes a trunk, generally indicated at22, having buttocks 24 and a back 26 hingedly connected thereto so thatthe back 26 can move independently of the buttocks 24 during extensionand retraction of an electric actuator or drive 27. In FIG. 1, the drive27 takes the form of a cylinder, one end of which is pivotally connectedto an inner surface of the back 26 and the other end of which isconnected to a housing 25 of a device 30 described below.

The simulator 18 also includes upper legs or thighs 28 which arepivotally connected to the buttocks 24 by means of ball joints. Each ofthe thighs 28 is also controllably driven by its own respective electricdrive or actuator 29 in the same fashion as the actuator 27 drives theback 26.

The system 10 also includes a force measuring device, generallyindicated at 30, which is electrically coupled to the robot controller20 by the cable 21. The device 30 is coupled to the simulator 18 at thedistal end 16 of the robot arm 14 to generate electrical signalsindicative of forces and moments applied to the trunk 22 and the thighs28 of the simulator 18 during wear testing of the seat back surface andthe seat bottom surface of a seat under test. The robot controllerprocesses the signals together with force exertion data, whosegeneration will be described hereinbelow, to verify the control programby which the robot controller 20 controls not only the robot 12, butalso the simulator 18. Preferably, the force measuring device 30 is atransducer or load cell having six degrees of freedom wherein theelectrical signals generated by the device 30 are indicative of theforces and moments applied to the device 30 through the simulator 18.These forces are typically reaction forces exerted on the simulator 18during the wear testing.

Instead of the device 30, alternatively, the forces and moments can besensed indirectly by measuring the forces acting on the joints of therobot 12. As previously mentioned, for joints driven by DC electricmotors, the forces are directly proportional to armature current. Forjoints driven by hydraulic motors (i.e.: for hydraulic robots), theforces are proportional to back pressures.

Referring now to FIG. 2, there is illustrated a second embodiment of arobotic human body simulator, generally indicated at 18', also connectedat the distal end 16 of the robot arm 14 by a connector 17' and theforce measuring device 30. The simulator 18' is similar in form andfunction to the simulator 18 of FIG. 1 and, consequently, the differentparts of the simulator 18' have the same reference numeral ascorresponding parts of the simulator 18 except they have a primedesignation. However, the simulator 18', which is a preferred form ofthe robotic human body simulator of the present invention, includespush-pull drive cables 27' and 29' instead of the actuators 27 and 29,respectively.

For example, the drive cable 27' is secured at a free end thereof to aback 26' of the simulator 18'. The opposite end of the cable 27' isconnected to its respective compact electric servo drive containedwithin a housing 25' of the device 30. When the servo drive for the back26' within the housing 25' receives a control signal from the controller20, the servo drive alternately plays out or rewinds the cable 27' toallow the back 26' to pivot with respect to the thighs 28'. In theembodiment of FIG. 2, the back 26' of the simulator 18' is preferablypivotally connected to the buttocks 24' to pivot relative to thebuttocks 24'.

In the same fashion, each of the thighs 28' is pivotally connected tothe buttocks 24' so that when the respective electric servo drivescontained within the housing 25' play out their respective cables 29',the thighs 28' rotate away from the buttocks 24'. Upon rewinding thecables 29', the servo drives pivot the thighs 28' back towards thebuttocks 24'.

Referring now to FIG. 3, there is illustrated in schematic block diagramform a system for generating force exertion data and a control programfor use by the robot controller 20 of the present invention. Acalibration automotive seat assembly, generally indicated at 32,includes a seat back 34 and a seat bottom 36. The seat back 34 includesa seat back surface 38 such as a fabric layer which covers seat backforce sensors 40 embedded within a cushion of the seat back 34. Thesensors 40 generate electrical signals representative of force or weightexperienced at various locations at the seat back 34 as is well known inthe art.

In like fashion, the seat bottom 36 includes a seat bottom surface inthe form of a fabric layer, for example, which covers seat bottom forcesensors 44 also embedded within a cushion of the seat bottom 36. Likethe sensors 40, the sensors 44 also generate electrical signalsrepresentative of force or weight experienced or exerted at variouslocations on the seat bottom by a human as is well known in the art.

The electrical signals generated by the sensors 40 and 44 are receivedby input/output circuits 46 of a machine control system, generallyindicated at 48. A key subsystem of the system 48 is a 3-D measurementor motion capture system 52 (i.e. FIG. 4). The system 52 measures 3-Dlocations of parts of a human 50 during ingress of the human 50 onto thecalibration seat assembly 32 and egress of the human 50 from the seatassembly 32 to obtain measured data representing locations of the partsof the human 50. Preferably, the parts are the knees, the hips, and theshoulder of the human 50 which are measured in order to simulate upperleg, buttocks, and back interaction of the human 50 with the seatassembly 32 as will be described in greater detail hereinbelow.

The 3-D measurement system 52 generally measures the motion of the humansubject in real-time and produces both qualitative and quantitativeresults. The system 52 includes two or more position sensors in the formof video cameras 54 mounted on tripods 56. Each video camera 54 ispreferably a standard CCD video camera which is modified for operationin the infrared wavelength region. An array of infrared light-emittingdiodes surrounds a lens 58 of each of the cameras 54. The diodes providebursts of infrared light to illuminate markers 60, which are preferablypassive markers, attached at strategic locations on the human 50. Inthis way, the passive markers 60 become the brightest images in thefields of view of the cameras 54.

Preferably, a variety of standard lenses can be attached to the cameras54 to provide the user with a field of view from 53 degrees to 70degrees. Each lens 58 is set up for operation in the infrared range.

The reflective markers are preferably half or full spheres with a layerof standard reflective paint manufactured by the 3M Corporation and ispreferably their Scotchlite™ reflective liquid 7200 series.

The cameras 54 scan a three dimensional field of view occupied by thehuman 50 and the seat assembly 32, which also includes strategicallyplaced reflective markers 62 for reference purposes. The 3-D measurementsystem 52 provides measured data, as indicated in FIG. 4, from theimages generated by the cameras 54 which images are input to respectivevideo processors 64. Each video processor 64 detects the reflectivemarkers 60 and 62 which are attached to the human 50 and the seatassembly 32, respectively, and calculates the center or centroid of eachof the markers 60 and 62. From the centroids of each of the markers 60and 62 the video processor calculates digital x,y coordinates of themarkers 60 and 62. In this way, each image (i.e. the field of viewcontaining the reflective markers 60 and 62) is scanned, the centroidsare calculated, and the resulting x,y coordinates are presented to theremainder of the system 48 at a system bus 66 described below.

Preferably, a user of the system 48 sets up a desired field of view forthe cameras 54 by calibrating the desired field of view to include thehuman 50 and the seat assembly 32 so that the rest of the system 48 canprocess in real-time measured spatial x,y coordinates of the targetmarkers 60 and 62. Preferably, for the 3-D measurements, a calibrationframe is used so the volume of the field of view, including the human 50and the seat assembly 32, is calibrated.

Preferably, the rest of the system 48 includes a system bus 66 which maybe either a PCI on EISA, ISA or VL system bus, or any other standard busto allow intersystem communication such as with the robot controller 20.

The system 48 may be programmed at a mass storage unit 68 to includecustom controls for image processing and image analysis. For example, asindicated at block 70 in FIG. 4, a coordinate transformation isperformed on the measured data to obtain control targets which representthe parts of the human 50 such as the upper leg, buttocks, and back ofthe human 50.

A host computer 70 of the system 48 may be a Pentium-based IBMcompatible PC or other PC having a sufficient amount of RAM and harddisk space for performing the algorithms associated with generating thecontrol targets for the robot controller 20 and for generating forceexertion data for the robot controller 20 from signals provided by thesensors 40 and 44. In this way, the robot controller 20 is able to storetherewithin a control program and a body pressure map corresponding tohuman movements during vehicle or seat ingress and egress.

Referring now to FIG. 4, there is illustrated a schematic block diagramincluding data flow paths illustrating the method and system of thepresent invention. The 3-D measurement system 52 is used to measurehuman movement data during an ingress/egress event. The threedimensional movement is measured typically at the knees, hip, shoulder,and seat locations. The measured data is transformed into a group ofcoordinated 3-D displacement targets or control targets as indicated bythe coordinate transformation block 70, which control targets representknees, hips, and shoulders of the human. Because the robotic human bodysimulator 18 has independent leg, hip and back movements whichcorrespond with the measured displacements, the robot controller 20 iscapable of driving the compact electric actuators contained within thesimulator 18 to simulate human seating activity.

In other words, an individual's ingress/egress movements onto and off,respectively, of a calibration seat assembly 32, as indicated in FIG. 3,are recorded using the 3-D measurement system 52. The recorded pointsinclude knees, hips, shoulders, and reference points (indicated bymarkers 62) on the seat assembly 32.

At the same time, a body pressure distribution obtained from signalsgenerated by the sensors 40 and 44 is also recorded for control programverification.

A mathematical coordinate transformation indicated at block 70 isperformed on the measured data by the programmed host computer 20 toobtain a target program in the form of control targets. The controltargets are used by the robot controller 20 to obtain the controlprogram which generates drive control signals for the robot arm drivesand the compact actuators contained within the robotic human bodysimulator 18 or 18'.

The transformed data set or control targets are preferably played out bythe robot 12 and the simulator 18 using an iterative scheme until thedesired testing motions are achieved. Load and/or pressure measurementsare made on a seat or unit-under-test 72 through the use of the loadcell 30 and compared to the body pressure distribution previously storedwithin the robot controller 20 for control program verification. Furtherverification of playback fidelity can be accomplished through the 3-Dmeasurement system 52 using the robotic human body simulator 18 withmarkers 20 affixed thereto (i.e. FIG. 1) and comparing the measured datagenerated thereby with the original calibration measured data.

While the best mode for carrying out the invention has been described indetail, those familiar with the art to which this invention relates willrecognize various alternative designs and embodiments for practicing theinvention as defined by the following claims.

What is claimed is:
 1. A method for wear testing a seat by simulatinghuman seating activity, the method comprising the steps of:providing arobot, including an arm with a robotic human body simulator connected ata distal end thereof; measuring 3-D locations of parts of a human duringingress of the human onto a calibration seat and egress of the humanfrom the calibration seat to obtain measured data representing locationsof the parts of the human; generating a control program based on themeasured data; and repeatedly driving the robot arm and the robotichuman body simulator between a withdrawn position and a seat-surfaceengaging position based on the control program to test wearcharacteristics of a seat bottom surface and a seat back surface of theseat under test for a plurality of cycles.
 2. The method of claim 1wherein the step of measuring includes the step of scanning athree-dimensional field of view occupied by the human and thecalibration seat and taking successive images of the field of view. 3.The method of claim 2 wherein the step of scanning is performed by aplurality of cameras.
 4. The method of claim 2 wherein the step ofmeasuring further includes the step of converting the images into themeasured data.
 5. The method of claim 1 further comprising the step ofmeasuring force exerted by the human on the seat during the ingress andegress to obtain force exertion data.
 6. The method as claimed in claim5 further comprising the steps of:generating signals indicative offorces applied to the simulator during the step of repeatedly driving;and processing the signals and the force exertion data to verify thecontrol program.
 7. The method of claim 6 wherein the electrical signalsare also indicative of moments applied to the simulator during the weartest.
 8. The method of claim 1 further comprising the step of attachingtarget markers to the parts of the human and wherein the measured datarepresents locations of the target members on the parts of the human. 9.The method of claim 8 wherein the target markers are passive targetmarkers.
 10. The method of claim 8 wherein the step of measuringincludes the steps of:detecting the target markers; and calculating thelocations of the detected target markers to obtain the measured data.11. The method of claim 1 wherein the step of generating includes thestep of transforming the measured data into control targets representingthe parts of the human.
 12. The method of claim 1 wherein the step ofmeasuring also measures 3-D locations of parts of the calibration seatand wherein the measured data also represents locations of the parts ofthe calibration seat.